
#ifndef GHOR_GAZEBO_PLUGINS_ROS_WORLD_H
#define GHOR_GAZEBO_PLUGINS_ROS_WORLD_H

#include <gazebo.hh>
#include <common/Plugin.hh>

#include <physics/physics.h>

#include <ros/callback_queue.h>
#include <ros/ros.h>


namespace gazebo
{

class GazeboRosWorld : public WorldPlugin
{

   public: GazeboRosWorld();
   public: ~GazeboRosWorld();
   public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

   private: sdf::SDF* createParticle(int i,int j);
   

};

} // namespace gazebo

#endif // GHOR_GAZEBO_PLUGINS_ROS_WORLD_H
